Predictive Control for Chasing a Ground Vehicle using a UAV
This addresses the challenge of autonomous pursuit for UAVs in constrained environments, but it is incremental as it builds on existing model predictive control methods.
The authors tackled the problem of enabling a UAV to chase a ground vehicle by developing a high-level planner that uses online data and model predictive control to handle constraints, demonstrating it through simulations and experiments.
We propose a high-level planner for a multirotor to chase a ground vehicle, while simultaneously respecting various state and input constraints. Assuming a minimal kinematic model for the ground vehicle, we use data collected online to generate predictions for our planner within a model predictive control framework. Our solution is demonstrated, both via simulations and experiments on a stable quadcopter platform.